Figure 2. The monitor on the command panel. Figure 3. An overview of the ground-level pantograph system. vehicle. Its functions are to energize one or two external plates of the power module located under the surface of the vehicle and to transfer energy to the equipment of the vehicle. The current collection system (see Figure 3) is equipped with permanent magnets hybrid high-residual induction that permits the raising of a ferromagnetic strip present in the contact line on the ground (more characteristics can be found in Table 3). In this way, the contact of the positive line moves from the module on an external steel plate. This occurs only in the presence of the collector and then in the modules under the vehicle, thus avoiding the outer plates of the vehicle being under high voltage (HV). Located under the magnetic shoes is a pair of sliding contacts in copper and graphite for the two polarities, positive and negative, from which it draws the energy necessary for the normal operation of the vehicle. Since the return of the current occurs through the conducting plates insulated from the earth, placed in the conduit of the modules (thus unaffecting the rail), the problems of control and containment of the stray currents are addressed. The automatic centering of the contact line is ensured by other permanent magnets present in the side area of the collector, which are guided by the presence of continuous ferromagnetic bars positioned in the module. Despite the large air gaps in the game, the strength of the magnet is such as to develop a vertical force of about 390-490 N in all working conditions. The handling of the collector is done through the use of a vertical pantograph articulation. This articulation is controlled by a hydraulic control (200 bar) by means of a hydraulic pump with a capacity of 2 l/min. The operation of the collector is controlled by the system of the vehicle train control and monitoring system (TCMS). The operation of the collector is controlled by the system of the vehicle train control and monitoring system. Integration of the Tramwave System Onboard the Vehicle To allow the SIRIO tram to operate with the Tramwave contact line while keeping the possibility of operating with the Table 3. The Collection System. Magnetic Shoe Up Magnetic Shoe Down Figure 4. A detailed view of the bogie used to house the groundlevel collection system. Length 860 mm Width 410 mm Length of the anchorage plate 590 mm Width of the anchorage plate 340 mm Collector weight 34 kg Anchorage plate weight 15 kg Pantograph weight + hydraulic pistons 30 kg Vertical magnetic force Dragging force 350-400 N 150 N IEEE Elec trific ation Magazine / s ep t em be r 2 0 1 4 19